#include "l298n.h"


void Motor_Init(void)
{
	GPIO_InitTypeDef  GPIO_InitStructure;
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);	    //使能PA端口时钟
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4|GPIO_Pin_5|GPIO_Pin_6|GPIO_Pin_7;				 //端口配置
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; 		 //推挽输出
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;		 //IO口速度为50MHz
	GPIO_Init(GPIOA, &GPIO_InitStructure);					 //根据设定参数初始化PA4/5/6/7
}

void Motor_Stop(void)
{
	M1_P = 0;
	M1_N = 0;
	M2_P = 0;
	M2_N = 0;
}

void Motor_Forward(void)
{
	M1_P = 1;
	M1_N = 0;
	M2_P = 1;
	M2_N = 0;
}


void Motor_Backward(void)
{
	M1_P = 0;
	M1_N = 1;
	M2_P = 0;
	M2_N = 1;
}


void Motor_Turnleft(void)
{
	M1_P = 0;
	M1_N = 1;
	M2_P = 1;
	M2_N = 0;
}


void Motor_Turnright(void)
{
	M1_P = 1;
	M1_N = 0;
	M2_P = 0;
	M2_N = 1;
}


//PWM 部分初始化 
//arr：自动重装值
//psc：时钟预分频数
void Motor_PWM_Init(u16 arr,u16 psc)
{  
	GPIO_InitTypeDef GPIO_InitStructure;
	TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
	TIM_OCInitTypeDef  TIM_OCInitStructure;
	

	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);	//使能定时器4时钟
 	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB  | RCC_APB2Periph_AFIO, ENABLE);  //使能GPIO外设和AFIO复用功能模块时钟
	
	GPIO_PinRemapConfig(GPIO_Remap_TIM4, ENABLE); //Timer4重映射 TIM4_CH3->PB8    TIM4_CH4->PB9
 
   //设置该引脚为复用输出功能,输出TIM_CH1和TIM_CH2和的PWM脉冲波形
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8|GPIO_Pin_9; //TIM_CH3和TIM_CH4 
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  //复用推挽输出
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化GPIO
 
   //初始化TIM3
	TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值
	TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 
	TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式
	TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
	
	//初始化TIM4 Channel2 PWM模式	 
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2
 	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高
	TIM_OC3Init(TIM4, &TIM_OCInitStructure);  //初始化外设TIM4 OC3
	TIM_OC4Init(TIM4, &TIM_OCInitStructure);  //初始化外设TIM4 OC4

	TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);  //使能TIM4在CCR1上的预装载寄存器
	TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);  //使能TIM4在CCR2上的预装载寄存器
 
	TIM_Cmd(TIM4, ENABLE);  //使能TIM4
	
}







